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| #ifndef __TRANSPORT_CLIENT_TCP_H__
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| #define __TRANSPORT_CLIENT_TCP_H__
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|
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| #if defined(_OS_WINDOWS)
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|
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| #include <stdio.h>
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| #include <winsock2.h>
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| #elif defined(_OS_UNIX)
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|
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| #include <sys/types.h>
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| #include <sys/socket.h>
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| #include <netinet/in.h>
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| #include <arpa/inet.h>
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| #include <netdb.h>
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| #include <sys/select.h>
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| #include <sys/fcntl.h>
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|
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| #include <iostream>
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| #include <unistd.h>
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| #include <ctime>
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| #include <stdio.h>
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| #include <unistd.h>
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| #include <cerrno>
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| #include <cstdio>
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| #include <cstring>
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| #include <cstdlib>
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| #else
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| #pragma message("WARNING: Unknown OS Type!")
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| #endif
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|
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| #include <atomic>
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| #include <thread>
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| #include <mutex>
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|
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| #include <string>
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| #include <functional>
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| #include <exception>
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|
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| #include <iostream>
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| #include <chrono>
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|
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| #include "ITransportClient.h"
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| #include "common/KinovaTcpUtilities.h"
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| #include "common/WindowsNetworking.h"
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|
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| namespace Kinova
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| {
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| namespace Api
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| {
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| class TransportClientTcp : public ITransportClient
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| {
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| private:
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| const uint32_t kApiPort = 10000;
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|
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| bool m_isInitialized;
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| struct sockaddr_in m_socketAddr{};
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| socklen_t m_socketAddrSize{};
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| int32_t m_socketFd{};
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| #if defined(_OS_WINDOWS)
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| WSADATA m_wsa{};
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| #endif
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|
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| bool m_isUsingRcvThread;
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| std::atomic<bool> m_isRunning { true };
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| std::mutex m_sendMutex;
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|
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| fd_set m_original_rx{};
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| fd_set m_readfds{};
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|
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| int numfd{};
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| struct hostent *m_host{};
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| struct timeval m_tv{};
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|
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| static constexpr uint32_t kMaxTxBufferSize = 65495;
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| static constexpr uint32_t kMaxRxBufferSize = 65495;
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| static constexpr uint32_t kMaxBufferSize = 16777216;
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|
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| bool m_bIsReceiving { false };
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| uint32_t m_nTotalBytesRead {0};
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| uint32_t m_nTotalBytesToRead {0};
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| uint8_t* m_tx_buffer;
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| uint8_t* m_rx_buffer;
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|
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| uint32_t m_current_buffer_size_rx = { kMaxRxBufferSize };
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| uint32_t m_current_buffer_size_tx = { kMaxTxBufferSize };
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|
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|
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| KinovaTcpUtilities m_utilities_object;
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|
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| std::function<void (const char*, uint32_t) > m_onMessageCallback;
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| public:
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| TransportReadyStateEnum readyState;
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| std::thread m_receiveThread;
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|
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| explicit TransportClientTcp(bool isUsingRcvThread = true);
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| ~TransportClientTcp() override;
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|
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| bool connect(std::string host = "127.0.0.1", uint32_t port = 10000) override;
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| void disconnect() override;
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| void send(const char* txBuffer, uint32_t txSize) override;
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| void onMessage(std::function<void (const char*, uint32_t)> callback) override;
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|
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| char* getTxBuffer(uint32_t const& allocation_size) override;
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| size_t getMaxTxBufferSize() override { return kMaxBufferSize; }
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|
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| int processReceive(long rcvTimeout_usec);
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| int processReceive(struct timeval rcvTimeout_tv);
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|
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| virtual void getHostAddress(std::string &host, uint32_t &port) override {
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| host = mHostAddress;
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| port = mHostPort;
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| };
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|
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| private:
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|
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| std::string mHostAddress;
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| uint32_t mHostPort;
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|
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| void receiveThread(std::atomic<bool> &program_is_running);
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|
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| int callReceiveFrom();
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| };
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|
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| }
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| }
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|
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| #endif
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|
